Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/network/n7_inter_network_vpn and review the launch files to reproduce this package.

# 1) Prior to launching the node, the VPN must be configured and enabled from both sides (client and server).

# Make sure the firewall is not blocking the communication:

# 1.a) Option 1: disable the firewall
sudo ufw disable

# 1.b) Option 2: specific configuration of the firewall. For example, to allow traffic in computer 1 (10.0.0.1) towards computer 2 (10.0.0.2):
sudo ufw allow from 10.0.0.2
sudo ufw allow to 10.0.0.2


# 2) Besides, CycloneDDS must be properly configured:

# 2.1) Create cycloneDDS.xml file and dump the following content and replacing the address by those VPN addresses of the computers involved:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
    <Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility>
    <!-- For CycloneDDS in ROS Galactic -->
    <!-- <General><NetworkInterfaceAddress>enp1s0</NetworkInterfaceAddress></General> -->
    <!-- For CycloneDDS in ROS Humble or Rolling -->
    <General><Interfaces><NetworkInterface name="wg0"/></Interfaces></General>

    <Discovery>
        <Peers><Peer address="10.0.0.1"/><Peer address="10.0.0.2"/></Peers>
        <ParticipantIndex>auto</ParticipantIndex>
    </Discovery>
</Domain>
</CycloneDDS>

# 2.2) Configure ROS to use CycloneDDS as middleware 

export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# 3) Finally, compile and launch
colcon build --merge-install
source install/local_setup.bash
ros2 launch n7_inter_network_vpn trace_n7_inter_network_vpn_server.launch.py # Launch server
ros2 launch n7_inter_network_vpn trace_n7_inter_network_vpn_client.launch.py # Launch client